| --- |
| license: other |
| library_name: cosmos-policy |
| pipeline_tag: robotics |
| tags: |
| - robotics |
| - cosmos-policy |
| - openarm |
| - lerobot |
| - action-generation |
| --- |
| |
| # Cosmos Policy OpenArm Predict2 2B |
|
|
| Fine-tuned NVIDIA Cosmos Policy checkpoint for OpenArm using |
| `asterisms45/my_openarm_dataset_combined_2cam`. |
|
|
| This repository contains the inference checkpoint only: |
|
|
| - `model/`: Cosmos distributed checkpoint model weights from |
| `openarm-2cam-46/checkpoints/iter_000050000/model` |
| - `openarm_dataset_statistics.json`: action/proprio normalization statistics |
| - `openarm_t5_embeddings.pkl`: cached T5 task embeddings |
|
|
| The optimizer state from the training run is intentionally not uploaded. |
|
|
| ## Example |
|
|
| ```bash |
| uv run --extra cu128 --group aloha --python 3.10 python -m \ |
| cosmos_policy.experiments.robot.aloha.deploy \ |
| --config cosmos_predict2_2b_480p_openarm_asterisms45_2cam_posttrain__inference_only \ |
| --ckpt_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B \ |
| --config_file cosmos_policy/config/config.py \ |
| --use_third_person_image True \ |
| --use_wrist_image True \ |
| --num_wrist_images 2 \ |
| --use_proprio True \ |
| --normalize_proprio True \ |
| --unnormalize_actions True \ |
| --dataset_stats_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B/openarm_dataset_statistics.json \ |
| --t5_text_embeddings_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B/openarm_t5_embeddings.pkl \ |
| --trained_with_image_aug True \ |
| --chunk_size 50 \ |
| --num_open_loop_steps 50 \ |
| --num_denoising_steps_action 10 \ |
| --deterministic True |
| ``` |
|
|
| Model weights derive from NVIDIA Cosmos Policy. Check the upstream repository |
| and model license terms before redistribution or commercial use. |
|
|
